UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control

arXiv:2609.19690 · cs.RO, cs.LG · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 9 pages, 8 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Fine-Tuning — 12× in this paper · explained in 5 episodes
• Adaptation — 11× in this paper · explained in 1 episode
• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 4× in this paper · explained in 2 episodes
• Distillation — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• ACM Transactions on Graphics — 2× in this paper
• Actor — 2× in this paper · explained in 3 episodes
• Human-in-the-Loop — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Model Drift — 1× in this paper · explained in 4 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes

Sources

• Exo-Plore: Exploring Exoskeleton Control Space through Human-aligned Simulation
• Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller
• MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control
• SMAT: Staged Multi-Agent Training for Co-Adaptive Exoskeleton Control
• KINESIS: Motion Imitation for Human Musculoskeletal Locomotion
• Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion
• Proximal Policy Optimization Algorithms

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